The Research On Robot Control Software Development Base On Component

Along with the robot technology develop in the direction of more intelligent,more open and more flexible,the robot has become a complex intelligent computing body which have a large number of advanced sensors and actuators. With the increasingly complex control object,the robot control software have been unable to keep pace with its development rate.The research background is the development of the robot control software,and the robot control software development based on component is brought forward.The robot control software development platform based on component is designed and develop,and some robot control software development is finished by this platform.Through this development based on component,the development time of robot control software is reduced,and the cost of development become lower.It has certain forward-looking for the future development of the robot industry.Firstly, the development of robot technology is introduced.The current problem of the development of robot control software is discussed.The summary and analysis for the current development of the robot control software development is given,and the future development direction of the robot control software development is analysed.Secondly, the hardware of the robot system is analyzed,its characteristics and trend is summarized.The advantage and disadvantage of robotic software developme--nt method is summarized,and with the combination of hardware,the robot control software development platform base on component is present.The hierarchy of the robot control software development platform base on component is designed.The various components of the development platform are given,and the process of the software development of the robots for different applications by this platform is given.Thirdly, mainstream component models are analyzed,and with their advantages and disadvantages, the CORBA component model is chose for development of the platform. The platform development process is given.First of all,the component interface is described by IDL,the abstraction of the underlying function of the robot is finished.Second,the data communication between components is implemented by the name service and notify service.With high quality requirements of the video communication transmission,the development is implemented by the AV stream service pack.As the behavior control in robot control is very important,its working principle is analyzed,and its implementation process is given.Finally the development process of the service manager and the component library is presented.Finally,the software development of three heterogeneous robot is implemented by this platform.In the experimental development platform for mobile robot,with its hardware features,the process of the implementation of the software system through this platform is given.In the power transmission line de-icing robot not for obstacle,the control software development process for its poor working environment is given.with more complex control requirements of the power transmission line de-icing robot for obstacle,the planning based on MDP,behavior learning networks and human-robot interaction function is added on the basis of behavior control component.The experimental simulation environment is built by the platform,the results and analysis of the experiment is given.